Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: wam
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - wam
 ---
 

config.json

@@ -33,10 +33,10 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
-    "n_obs_frames": 3,
+    "pretrained_path": "outputs/train/wam_aloha_oneframe/checkpoints/last/pretrained_model",
+    "n_obs_frames": 1,
     "obs_frame_skip": 10,
-    "pred_frame_skip": 25,
+    "pred_frame_skip": 20,
     "n_pred_frames": 2,
     "lag_offset": 3,
     "image_size": [
@@ -44,7 +44,7 @@
         256
     ],
     "horizon": 50,
-    "n_action_steps": 50,
+    "n_action_steps": 20,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9e692f77eaa7bbf8c890f0897272f075f9b5787a97f5c784fa1b64d91c018205
-size 299527568
+oid sha256:892ddb2cc87c330b5e1fe3d791b98d358ffb1d1a7ccc62ed8637fa0be853a6bf
+size 299524496

train_config.json

@@ -154,10 +154,10 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
-        "n_obs_frames": 3,
+        "pretrained_path": "outputs/train/wam_aloha_oneframe/checkpoints/last/pretrained_model",
+        "n_obs_frames": 1,
         "obs_frame_skip": 10,
-        "pred_frame_skip": 25,
+        "pred_frame_skip": 20,
         "n_pred_frames": 2,
         "lag_offset": 3,
         "image_size": [
@@ -165,7 +165,7 @@
             256
         ],
         "horizon": 50,
-        "n_action_steps": 50,
+        "n_action_steps": 20,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -195,7 +195,7 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha",
+    "output_dir": "outputs/train/wam_aloha_oneframe",
     "job_name": "aloha_wam",
     "resume": true,
     "seed": 1000,
@@ -228,8 +228,8 @@
         "decay_lr": 1e-05
     },
     "eval": {
-        "n_episodes": 5,
-        "batch_size": 1,
+        "n_episodes": 4,
+        "batch_size": 4,
         "use_async_envs": false
     },
     "wandb": {
@@ -238,7 +238,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "ttq8wv3s",
+        "run_id": "dwkawax5",
         "mode": null,
         "add_tags": true
     },
@@ -249,5 +249,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha/checkpoints/last"
+    "checkpoint_path": "outputs/train/wam_aloha_oneframe/checkpoints/last"
 }